相关论文: Weakly-Supervised Road Affordances Inference and L…

Recent development in autonomous driving involves high-level computer vision and detailed road scene understanding. Today, most autonomous vehicles are using mediated perception approach for path planning and control, which highly rely on…

Localizing functional regions of objects or affordances is an important aspect of scene understanding. In this work, we cast the problem of affordance segmentation as that of semantic image segmentation. In order to explore various levels…

Understanding motion in dynamic environments is critical for autonomous driving, thereby motivating research on class-agnostic motion prediction. In this work, we investigate weakly and self-supervised class-agnostic motion prediction from…

Today, there are two major paradigms for vision-based autonomous driving systems: mediated perception approaches that parse an entire scene to make a driving decision, and behavior reflex approaches that directly map an input image to a…

State-of-the-art learning based boundary detection methods require extensive training data. Since labelling object boundaries is one of the most expensive types of annotations, there is a need to relax the requirement to carefully annotate…

We propose a weakly-supervised multi-view learning approach to learn category-specific surface mapping without dense annotations. We learn the underlying surface geometry of common categories, such as human faces, cars, and airplanes, given…

Most existing approaches to autonomous driving fall into one of two categories: modular pipelines, that build an extensive model of the environment, and imitation learning approaches, that map images directly to control outputs. A recently…

This paper addresses the often overlooked issue of fairness in the autonomous driving domain, particularly in vision-based perception and prediction systems, which play a pivotal role in the overall functioning of Autonomous Vehicles (AVs).…

In this work, we focus on the task of weakly supervised affordance grounding, where a model is trained to identify affordance regions on objects using human-object interaction images and egocentric object images without dense labels.…

We propose to model complex visual scenes using a non-parametric Bayesian model learned from weakly labelled images abundant on media sharing sites such as Flickr. Given weak image-level annotations of objects and attributes without…

Navigation through uncontrolled intersections is one of the key challenges for autonomous vehicles. Identifying the subtle differences in hidden traits of other drivers can bring significant benefits when navigating in such environments. We…

Action recognition in videos has attracted a lot of attention in the past decade. In order to learn robust models, previous methods usually assume videos are trimmed as short sequences and require ground-truth annotations of each video…

We present a weakly-supervised approach to segmenting proposed drivable paths in images with the goal of autonomous driving in complex urban environments. Using recorded routes from a data collection vehicle, our proposed method generates…

Affordance, defined as the potential actions that an object offers, is crucial for embodied AI agents. For example, such knowledge directs an agent to grasp a knife by the handle for cutting or by the blade for safe handover. While existing…

Equitable urban transportation applications require high-fidelity digital representations of the built environment: not just streets and sidewalks, but bike lanes, marked and unmarked crossings, curb ramps and cuts, obstructions, traffic…

Semantic segmentation tasks based on weakly supervised condition have been put forward to achieve a lightweight labeling process. For simple images that only include a few categories, researches based on image-level annotations have…

Conventional works that learn grasping affordance from demonstrations need to explicitly predict grasping configurations, such as gripper approaching angles or grasping preshapes. Classic motion planners could then sample trajectories by…

3D semantic scene understanding tasks have achieved great success with the emergence of deep learning, but often require a huge amount of manually annotated training data. To alleviate the annotation cost, we propose the first…

Affordance denotes the potential interactions inherent in objects. The perception of affordance can enable intelligent agents to navigate and interact with new environments efficiently. Weakly supervised affordance grounding teaches agents…

Roadside perception datasets are typically constructed via cooperative labeling between synchronized vehicle and roadside frame pairs. However, real deployment often requires annotation of roadside-only data due to hardware and privacy…